EUROPEAN COMMISSION SEVENTH FRAMEWORK PROGRAMME Theme: ICT Small or medium-scale focused research projects (STREP) FP7-ICT-2013-10 Objective ICT-2013.6.5 Co-operative mobility a) Supervised Automated Driving GA No. 612035 Interoperable GCDC AutoMation Experience Deliverable No. i-GAME D1.2 Deliverable Title Draft report on requirements specification Dissemination level Public Written By Cristofer Englund (Viktoria Swedish ICT) Jonas Didoff (Viktoria Swedish ICT) Lei Chen (Viktoria Swedish ICT) Alexey Voronov (Viktoria Swedish ICT) Ellen van Nunen (TNO) Jeroen Ploeg (TNO) Andres Apparicio (Idiada) Igo Besselink (TU/E) Alejandro Morales Medina (TU/E) [16-06-2014] Checked by Igo Besselink (TU/E) Alejandro Morales Medina (TU/E) [30-06-2014] Approved by Sander Maas, coordinator (TNO) [15-07-2014] Status Final v. 1.0 [15-07-2014] Ref. Ares(2014)2366267 - 16/07/2014
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Small or medium-scale focused research projects … · 5.1 List of Figures ... corresponds to both Level 3 and Level 4 in SAE’s definition. ... The allowed vehicle types in GCDC
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EUROPEAN COMMISSION SEVENTH FRAMEWORK PROGRAMME
Theme: ICT
Small or medium-scale focused research projects (STREP)
FP7-ICT-2013-10
Objective ICT-2013.6.5 Co-operative mobility
a) Supervised Automated Driving GA No. 612035
Interoperable GCDC AutoMation Experience
Deliverable No. i-GAME D1.2
Deliverable Title Draft report on requirements specification
Dissemination level Public
Written By Cristofer Englund (Viktoria Swedish ICT)
Jonas Didoff (Viktoria Swedish ICT)
Lei Chen (Viktoria Swedish ICT)
Alexey Voronov (Viktoria Swedish ICT)
Ellen van Nunen (TNO)
Jeroen Ploeg (TNO)
Andres Apparicio (Idiada)
Igo Besselink (TU/E)
Alejandro Morales Medina (TU/E)
[16-06-2014]
Checked by Igo Besselink (TU/E)
Alejandro Morales Medina (TU/E)
[30-06-2014]
Approved by Sander Maas, coordinator (TNO) [15-07-2014]
Status Final v. 1.0 [15-07-2014]
Ref. Ares(2014)2366267 - 16/07/2014
i-GAME D1.2 – Draft report on requirements specification
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i-GAME D1.2 – Draft report on requirements specification
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Please refer to this document as:
DEL140730_i-GAME_D1.2 Draft report on requirements specification
Acknowledgement.
Disclaimer:
i-GAME is co-funded by the European Commission, DG
Research and Innovation, in the 7th Framework Programme.
The contents of this publication is the sole responsibility of
the project partners involved in the present activity and do
not necessarily represent the view of the European
Commission and its services nor of any of the other
consortium partners.
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Executive Summary
GCDC 2016, which is organized by the project i-GAME, will gather teams from universities, research
institutes, manufactures, etc., in one place to compete and test the newest technologies that will enable the
future cooperative and automated vehicles. To perform the i-GAME scenarios both safely and efficiently,
and to allow the organization to judge the performance in a quantitative way, participant teams shall fulfil
certain requirements.
This document specifies initially the main requirements that participant teams shall follow and fulfil for
vehicles to enter GCDC 2016. The main discussion includes requirements on the drivers, requirements on the
vehicles’ performance, as well as the functional requirements.
In GCDC 2016, the drivers will be in the vehicles during the scenarios and take control if any danger is found.
Therefore, i-GAME specifies a set of requirements that drivers from the participating teams shall follow;
these requirements are presented in this document.
i-GAME focuses on vehicles classified as "partial automation", where vehicles have the abilities to perform
both longitudinal and lateral control, while drivers monitor the systems at all times. This document specifies
the allowed participating vehicles, together with their automation levels. A general description on the
vehicle requirements is presented, with also a brief description of scenario-based requirements. To enable
both automated longitudinal and lateral control safely and efficiently, vehicle controllers shall be able to
perform certain manoeuvres within the specified limits. Furthermore, vehicles sensors, such as GPS, must be
able to provide information with enough accuracy. Those requirements are specified in the vehicle controller
and sensor requirements.
Safety is of utmost importance in GCDC 2016 as drivers are physically in the competing vehicles. Sets of basic
safety requirements are specified that vehicles and drivers must follow exactly.
The i-GAME scenarios will mainly rely on vehicle communications and cooperation. Vehicles exchange
information and negotiate to resolve complicated realistic scenarios. Thus communication and interaction
are the key and critical components in the vehicles’ functional design. Communications must follow the EU
regulations and shall be multi-vendor based and interoperable. Interaction must be efficient and robust to
allow vehicles to resolve realistic scenarios safely and efficiently. To do this, i-GAME will design interoperable
communication message sets as well as a set of interaction protocols. This document specifies the
preliminary requirements on communications and interaction. These will be updated and specified in D1.4.
It is worth mentioning that requirements specified in this document are brief. The aim is to help participant
teams to have an overview of the challenge and to get a general understanding on how to enable a safe and
successful GCDC 2016. Certain parts of the requirements, such as detailed controller parameter settings, are
open, and the teams will be able to discuss with the organizers in the coming months to influence the
detailed requirements. Mutually agreed requirements will be frozen and published in the final version D1.4.
Thereafter, all participating teams shall follow exactly the requirements for entering GCDC 2016.
i-GAME D1.2 – Draft report on requirements specification
2.3.2 Communication requirements .......................................................................................................................... 12
2.3.4 Data logging....................................................................................................................................................... 13
2.4 Pre-contest verification and judging ............................................................................................................... 13
4 LIST OF ABBREVIATIONS AND TERMINOLOGY ...................................................................... 15
5 LIST OF FIGURES AND TABLES .............................................................................................. 16
5.1 List of Figures .................................................................................................................................................. 16
5.2 List of Tables ................................................................................................................................................... 16
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1 Introduction
The i-GAME project
The objective of i-GAME is to develop technologies that speed-up the real-life implementation of automated
driving, which is supported by communication between the vehicles and between vehicles and roadside
equipment.
Background to requirement specification
This requirement specification will function as a guideline for the participating teams as they develop their
competition vehicles. The purpose of the document is that it should help the teams to create safe innovative
automated vehicles. The level of details in the requirements should not constrain the design but rather
inspire innovative solutions – yet safe and interoperable with other vehicles. The success of GCDC 2011 gave
significant input to this document, requirements specified in this documents are based on the related parts
in the rules & technology document1 of GCDC 2011 with modifications to accommodate the GCDC 2016. This
report will be a living document on requirements where the participating teams are able to influence the
detailed specifications. A final version will be mutually agreed with the teams and published in November
2015 (month 25) in Deliverable D1.4 for ensuring a successful GCDC 2016.
Contents and structure of this document
This document consists of an executive summary and the description of the requirements related to the
driver, the vehicle, the sensor system and the vehicle-to-vehicle communication.
1 GCDC organization, “GCDC 2011, Rules & Technology Document”, Version 2.0, April, 2011.
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2 Requirements for participants
GCDC 2016 is a unique event where a number of scenarios are demonstrated in which cooperative and
automated vehicles participate. The scenarios take place both on a highway and an intersection. To be able
to participate in the challenge a number of requirements must be fulfilled by the competing teams. Some
requirements are verified before the competition and others are evaluated during the scenarios through
judging and evaluation. The rules about each scenario and how it is evaluated is described in Deliverable
D1.1. This chapter describes the requirements that the teams and their vehicles should fulfil to be able to
safely and successfully participate in GCDC 2016.
2.1 Driver requirements
The GCDC 2016 organization requires the following from the drivers:
• Shall have a valid driving license
• Shall have a valid insurance according to the contract
• Shall have a valid passport for identification
• Shall be physically fit and mentally alert
• Shall not be under the influence of any alcohol or drugs
• Shall be well experienced in driving and controlling the competition vehicle of the team
• Shall be aware of the safety and competition rules and instructions provided by the organization
• Shall be in the driver seat ready to take over control or to abort the scenario if anything unexpected
occurs during the scenarios
• Shall be accompanied by a driver assistant during the competition (in the passenger seat)
• Shall make themselves known to the GCDC 2016 organization before the competition
2.2 Vehicle requirements
2.2.1 Vehicle automation categories
SAE standardized and published the taxonomy and definitions for vehicle automated driving systems in SAE
J3016. Figure 1 shows the vehicle automation levels that have been defined. Similarly, the iMobility Forum
also published definitions on vehicle automation proposed by BASt, where the level of “High automation”
corresponds to both Level 3 and Level 4 in SAE’s definition. In this project the SAE standard is used to
describe the automation required in GCDC 2016.
Vehicles competing in GCDC 2016 can be divided into the following two categories:
1. LEV 1 – where vehicles have full longitudinal support but require manual input for lateral
manoeuvres (corresponds to Level 1 - Assisted, VDA).
2. LEV 2 – where vehicles do not require any intervention from the driver. Longitudinal and lateral
controls are automatic (corresponds to Level 2 – Partial Automation, VDA).
To be able to participate in GCDC 2016 the vehicle needs to have at least Level 1 (Assisted, VDA) where the
driver may be in control of lateral movements. The vehicles must have the ability to start and stop without
the intervention of the “driver”. Furthermore, it is required that LEV 2 vehicles must have the ability to drive
in LEV 1 mode, i.e. with only longitudinal control in function.
The allowed vehicle types in GCDC 2016 include personal cars, trucks and vans. All vehicles are cooperative
with platooning capabilities, e.g., at least longitudinal control without driver intervention. They also have the
ability to cooperatively position and open gaps to allow new cars to join the platoon from the back, the side
and the front, as well as at any time leave the platoon in the same manner.
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Autonomous vehicles (level 4 and 5) are defined as having the ability to drive with full automation on their
own, hence with a higher degree of automation built on sensor information. However they are not
necessarily cooperative (V2V) which is a requirement in GCDC. From a performance perspective in GCDC
there is no difference between an autonomous vehicle and a LEV 2 vehicle.
Figure 1: Automation levels defined by VDA
Generally in GCDC all vehicles are equal in the sense that there is no particular functional requirement to be
expected from the first vehicle in a platoon. It is simply the first vehicle in the platoon and will be referred to
as the FV. The FV may drive with the technology at hand which means at any degree of automation (from
manual to autonomous).
2.2.2 General vehicle requirements
A number of general requirements are defined in order to perform the i-GAME scenarios and maintain
safety. The following items are minimum vehicle requirements and detailed implementation methods will be
specified in D1.4.
• Actuators and sensors to satisfy the LEV1 and LEV2 automation levels
• Vehicle communication devices
• Front/rear lights
• Seatbelts in all driver and passenger seats
• Emergency button for switching back to manual driving
• Clearly visible green (right side of car roof) solid-light for indicating automatic driving
• Clearly visible red (left side of car roof) solid-light for indicating manual driving